/*
*  Copyright 2018, Sebastian Pütz
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*  1. Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*
*  2. Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*
*  3. Neither the name of the copyright holder nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*
*  abstract_execution_base.h
*
*  author: Sebastian Pütz <spuetz@uni-osnabrueck.de>
*
*/

#ifndef MBF_ABSTRACT_NAV__ABSTRACT_EXECUTION_BASE_H_
#define MBF_ABSTRACT_NAV__ABSTRACT_EXECUTION_BASE_H_

#include <boost/thread.hpp>
#include <mbf_abstract_nav/MoveBaseFlexConfig.h>
#include <string>

namespace mbf_abstract_nav
{
/**
* @brief Base class for running concurrent navigation tasks.
*
* The class uses a dedicated thread to run potentially long-lasting jobs.
* The user can use waitForStateUpdate to get notification about the progress
* of the said job.
*/
class AbstractExecutionBase
{
public:
    AbstractExecutionBase(const std::string &name) : outcome_(255), cancel_(false), name_(name) {}

    virtual ~AbstractExecutionBase();

    virtual bool start();

    virtual void stop();

    /**
     * @brief Cancel the plugin execution.
     * @return true, if the plugin tries / tried to cancel the computation.
     */
    virtual bool cancel() { return false; };

    void join();

    boost::cv_status waitForStateUpdate(boost::chrono::microseconds const &duration);

    /**
     * @brief Gets the current plugin execution outcome
     */
    uint32_t getOutcome() const { return outcome_; }

    /**
     * @brief Gets the current plugin execution message
     */
    const std::string &getMessage() const { return message_; }

    /**
     * @brief Returns the name of the corresponding plugin
     */
    const std::string &getName() const { return name_; }

    /**
     * @brief Optional implementation-specific setup function, called right before execution.
     */
    virtual void preRun() {};

    /**
     * @brief Optional implementation-specific cleanup function, called right after execution.
     */
    virtual void postRun() {};

    /**
     * @brief Optional implementaiton-specific configuration function.
     */
    virtual void reconfigure(MoveBaseFlexConfig &_cfg) {}

protected:
    virtual void run() {};

    //! condition variable to wake up control thread
    boost::condition_variable condition_;
    //! the controlling thread object
    boost::thread thread_;
    //! flag for canceling controlling
    bool cancel_;
    //! the last received plugin execution outcome
    uint32_t outcome_;
    //! the last received plugin execution message
    std::string message_;
    //! the plugin name; not the plugin type!
    std::string name_;
};

} /* namespace mbf_abstract_nav */

#endif  /* MBF_ABSTRACT_NAV__ABSTRACT_EXECUTION_BASE_H_ */
